A compact waist assist device

Abstract

The application discloses a compact waist assisting device, which comprises a main frame, a power module, a leg rod module and a waist belt. The main frame comprises a back plate, a waist rod and a front waist support. The front waist support is arranged on the front side of the waist of a wearer to support heavy objects. The front waist support comprises at least a waist support base, and is fixed on the main frame, the power module and / or the waist belt through the waist support base. The front waist support is rigidly connected with the main frame or the power module in the vertical direction, so that the heavy objects are supported on the front waist support and transmitted to the main frame. The front waist support is flexible or rotatable relative to the main frame or the power module in the horizontal direction, so that the front waist support is opened in the horizontal direction, and the wearer can put the assisting device into the waist of the human body from the back waist. When the wearer moves and walks, the load weight can be transferred to the waist and the back through the assisting device, and the assisting device has the advantages of stable wearing.

Description

Technical Field

[0001] This invention relates to the field of power devices for human assistive exoskeletons, and particularly to a compact waist assist device. Background Technology

[0002] In daily work and life, people often encounter situations where they want to enhance the strength and endurance of their upper or lower limbs. Wearable powered exoskeletons are devices that meet this type of application, including hip-assisted exoskeletons, knee-assisted exoskeletons, and upper limb-assisted exoskeletons. Many existing documents disclose the implementation mechanisms of such devices.

[0003] In existing lumbar assistive exoskeleton technologies, a rigid backplate extending to the shoulders is used to transmit the hip extension torque in order to lift / lift the wearer's shoulders. This results in the backplate swaying from side to side during walking, affecting the wearing experience. In addition, current lumbar assistive exoskeletons mainly reduce the load on the arms by using slings from the backplate when carrying and walking. During walking, the weight of heavy objects is entirely transmitted through the backplate, which requires the backplate to extend very high, making the exoskeleton device very bulky and further exacerbating the swaying of the backplate during walking. Furthermore, the backplate slings are very long and not properly stored, which can be inconvenient in complex work scenarios, and there is a risk that the slings will get caught in moving equipment or become stuck. Summary of the Invention

[0004] The purpose of this invention is to provide a compact waist support device, which aims to solve the problems of bulky and shaky backboards in existing exoskeleton devices.

[0005] To solve the above-mentioned technical problems, the objective of this invention is achieved through the following technical solution: A compact waist assist device is provided, comprising a main frame, a power module, a leg support module, and a waist belt. The main frame includes a back panel and a waist support, the back panel being disposed on the wearer's back; the power module is disposed on both sides of the wearer's hips; the waist support extends backward and upward from the power module disposed on both sides of the wearer's hips and is connected to the back panel; the leg support module is disposed on the side of the wearer's legs and is used for securing the wearer's legs, the upper end of the leg support module being rotatably connected to the power module, the power module driving the leg support module to swing the wearer's legs forward or backward; the waist belt is fixedly connected to the power module or the waist support.

[0006] The main frame also includes a front lumbar support, which is positioned on the front of the wearer's waist to support heavy objects. The front lumbar support includes at least a lumbar support base and is fixed to the main frame and / or the power module and / or the waist belt via the lumbar support base. The front lumbar support is rigid in the vertical direction relative to the main frame or the power module, so that it can bear heavy objects and transfer them to the main frame. The front lumbar support is flexible or rotatable in the horizontal direction relative to the main frame or the power module, so that it can open in the horizontal direction to allow the wearer to slip the assist device onto their waist from the back.

[0007] Furthermore, the front lumbar support also includes a lumbar support pivot and a lumbar support rod, wherein the lumbar support rod and the lumbar support base are rotatably connected in the vertical direction via the lumbar support pivot.

[0008] Furthermore, the backplate includes at least a first backplate, a second backplate, and a backplate pivot. The first backplate and the second backplate are rotatably connected by the backplate pivot, which is located below the wearer's shoulder and perpendicular to the coronal plane. When the assist device is used, the second backplate rotates around the backplate pivot in the direction of the wearer's shoulder swaying. When the assist device is not used, the second backplate rotates to overlap with the first backplate.

[0009] Furthermore, the waist bar and the back plate are connected by a quick-clamping structure; the quick-clamping structure includes a clamping rivet, a wrench shaft, a wrench cam, and a wrench handle. The clamping rivet connects the back plate and the wrench cam, and the waist bar is positioned between the back plate and the wrench cam. When the wrench handle is turned, the wrench cam is rotated, increasing or decreasing the distance between the back plate and the wrench cam, thereby loosening or clamping the back plate and the waist bar. When the back plate and the waist bar are loosened, the relative position of the waist bar and the back plate can be adjusted.

[0010] Furthermore, the waist belt wraps tightly around the wearer's waist. The waist belt includes a left waist belt and a right waist belt. One end of the left waist belt and the right waist belt are fastened together at the wearer's lower back, and the other end of the left waist belt and the right waist belt are fastened together at the wearer's front abdomen. The left waist belt and the right waist belt are fastened together to form a closed loop structure to support the weight of the main frame, the power module and the heavy objects on it.

[0011] Furthermore, the compact waist assist device also includes a pull strap for lifting heavy objects. The connecting end of the pull strap is fixed to the back plate. The lifting end of the pull strap is provided with a pull strap magnet or a convex shaft. The front waist support, power module, or waist belt is provided with a waist magnet that magnetically engages with the pull strap magnet or a magnetic opening that matches the convex shaft.

[0012] Furthermore, the pull strap is an elastic pull strap, the outer layer of the pull strap is a cloth sleeve, and the inner layer of the pull strap is an elastic inner core, the elastic inner core sliding relative to the cloth sleeve; the natural length of the elastic inner core is less than the natural length of the cloth sleeve; in the natural state, the elastic inner core causes the outer cloth sleeve to shorten to its shortest length, and in the stretched state, the outer cloth sleeve extends to its maximum length to bear the tensile force and prevent the elastic inner core from overstretching.

[0013] Furthermore, shoulder straps are provided on both sides of the back panel. Each shoulder strap is divided into an upper section and a lower section. The ends of the upper and lower sections are fixed to the back panel at the wearer's back. The upper and lower sections extend along the wearer's shoulders to the wearer's chest. The ends of the upper and lower sections interlock to form a closed loop structure to fix the back panel to the wearer's back.

[0014] Furthermore, the front lumbar support is equipped with a support rod force sensor, which is connected in series in the front lumbar support. One end of the support rod force sensor is fixedly connected to the power module, the lumbar support base, or the lumbar support rod, and the other end is fixedly connected to the lumbar support base, the lumbar support rod, or the lumbar support shaft. The support rod force sensor is used to sense the magnitude of the weight borne by the front lumbar support.

[0015] Furthermore, the back plate is provided with a tension force sensor, one end of which is fixed to the back plate and the other end of which is fixedly connected to the connection end of the tension strap to sense the magnitude of the tension of the tension strap.

[0016] The beneficial effects of this invention compared to the prior art are:

[0017] When the wearer uses the assistive device of the present invention, the second back plate can rotate with the left and right swaying of the wearer's shoulders, thereby improving the flexibility and adaptability of the device. In addition, when the device is not in use, the second back plate can be rotated to overlap with the first back plate, thereby reducing the length of the back plate and the size of the assistive device, making it easier to carry and store.

[0018] When the wearer carries a heavy object, the object rests on the lumbar support bar in front of the wearer's abdomen. At this time, the lumbar support bar generates a clockwise torque on the main frame through a rigid connection, causing the back panel to press against the wearer's back. In addition, the lumbar support bar is pressed down by gravity onto the waist bar and / or power module that are fixed to it, thereby pulling down the leg straps that are fixed to it, thus transferring the load weight to the wearer's waist and back, reducing the load on the wearer's arms and spine. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A rear view schematic diagram of Embodiment 1 of the compact waist assist device provided by the present invention;

[0021] Figure 2 A right-side view of an embodiment 1 of the compact waist assist device provided by the present invention in an upright load-bearing state;

[0022] Figure 3 A right-side view of a bent-over state in Embodiment 1 of the compact waist assist device provided by the present invention;

[0023] Figure 4 A top view of the main frame of Embodiment 1 of the compact waist assist device provided by the present invention;

[0024] Figure 5 A schematic diagram of the quick-clamping structure of the compact waist support device provided by the present invention;

[0025] Figure 6 A schematic diagram illustrating the connection between the power module and the waist and leg modules provided by this invention. Figure 1 (AA angle view);

[0026] Figure 7 A right-side view of an embodiment 2 of the compact waist assist device provided by the present invention in an upright load-bearing state;

[0027] Figure 8 A schematic right-side view of Embodiment 3 of the compact waist support device provided by the present invention;

[0028] Figure 9 A top view of the main frame of Embodiment 3 of the compact waist assist device provided by the present invention.

[0029] Explanation of the markings in the image:

[0030] 1—Main frame; 11—Back panel; 111—First back panel; 112—Second back panel; 1121—Extension arm; 113—Back panel pivot; 114—Clamping block; 115—Clamping wrench; 1151—Clamping rivet; 1152—Wrench handle; 1153—Wrench pivot; 1154—Wrench cam; 12—Lumbar support; 13—Front lumbar support; 131—Lumbar support base; 132—Lumbar support pivot; 133—Lumbar support rod; 134—Lumbar support protrusion;

[0031] 2—Power module; 21—Power base; 22—Power output plate;

[0032] 3—Leg pole module; 31—Leg pole adapter section; 32—Leg pole pivot; 33—Leg pole body; 34—Thigh shell;

[0033] 41—Shoulder strap; 411—Upper section of shoulder strap; 412—Lower section of shoulder strap; 413—Shoulder strap buckle; 42—Waist belt; 421—Right waist belt; 422—Left waist belt; 423—Back waist belt buckle; 424—Front waist belt buckle; 425—Waist magnetic closure; 43—Leg strap; 44—Pull strap; 441—Pull strap magnetic closure; 442—Pull strap hook;

[0034] 5—Heavy objects;

[0035] 61—Pulley force sensor; 62—Rod force sensor;

[0036] 7—Fan. Detailed Implementation

[0037] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0039] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0040] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0041] The following is combined Figure 1 , Figure 2 and Figure 3 This paper introduces Embodiment 1 of the compact waist assist device of the present invention.

[0042] The compact lumbar support device includes a main frame 1, a power module 2, a leg support module 3, and a strap system. The main frame 1 includes a back panel 11, a lumbar support 12, and a front lumbar support 13. The back panel 11 is located on the wearer's back. The power module 2 is located at the wearer's hips on both sides. The lumbar support 12 includes a left lumbar support and a right lumbar support, which are respectively located on both sides of the back panel 11. One end of each of the left and right lumbar supports is fixedly connected to the power module 2, and the other end of each of the left and right lumbar supports extends backward and upward from the power module 2 located at the wearer's hips and is connected to the back panel 11. The leg support module 3 is located on the side of the wearer's legs and is used to fix the wearer's legs in place. The upper end of the leg support module 3 is rotatably connected to the power module 2, and the power module 2 can drive the leg support module 3 to swing the wearer's legs forward or backward.

[0043] like Figure 1 , Figure 2 As shown, the back panel 11 includes a first back panel 111, a second back panel 112, and a back panel pivot 113. The first back panel 111 and the second back panel 112 are rotatably connected by the back panel pivot 113. The back panel 11 is arranged parallel to the wearer's back, and the back panel pivot 113 is perpendicular to the back panel 11, that is, perpendicular to the coronal plane of the human body. The back panel pivot 113 is located below the wearer's shoulder or at the back of the heart, so that when the wearer wears and uses the assistive device of the present invention, the second back panel 112 can rotate with the left and right swaying of the wearer's shoulder, thereby improving the flexibility and human adaptability of the assistive device of the present invention. In addition, when the device of the present invention is not in use, the second back panel 112 can be rotated to a position overlapping with the first back panel 111, thereby reducing the length of the back panel 11 and thus reducing the size of the assistive device of the present invention, making it easier to carry and store the assistive device of the present invention.

[0044] like Figure 2 , Figure 4 and Figure 6As shown, the main frame 1 also includes a front lumbar support 13. Two front lumbar supports 13 are respectively positioned on the left and right sides of the wearer's lower back and abdomen. The front lumbar supports 13 are made of rigid material and include a lumbar support base 131, a lumbar support pivot 132, and a lumbar support rod 133. The lumbar support base 131 is fixed to the lumbar rod 12 and / or the power module 2. The lumbar support base 131 and the lumbar support rod 133 are rotatably connected based on the vertical lumbar support pivot 132. The front lumbar supports 13... The vertical connection with respect to the main frame 1 or power module 2 is rigid, so that the front lumbar support 13 can bear the weight 5; the front lumbar support 13 can rotate in the horizontal direction relative to the main frame 1 or power module 2, and the two lumbar support rods 133 can be unfolded or closed relative to the wearer's abdomen. When unfolded, it is convenient for the wearer to put on the device, and at the same time, it can serve as a support platform to lift the weight 5; when closed, the lumbar support rods 133 can be close to the human abdomen to avoid being too abrupt during work.

[0045] The front lumbar support 13 can also be made of elastic materials (such as titanium alloy, shape memory alloy, etc.) or semi-flexible materials (such as nylon, glass fiber, etc.). In this case, the front lumbar support 13 is an integral structure, and there is no need to set the lumbar support pivot 132. The root of the front lumbar support 13 only needs to be fixed on the lumbar rod 12 and / or power module 2. The front lumbar support 13 can be opened or closed by its own deformation, thereby achieving a function similar to the lumbar support pivot 132.

[0046] The working principle of the front lumbar support 13 is as follows: Figure 2 , Figure 5 , Figure 7 As shown, when the wearer carries a heavy object 5 in front, the object 5 rests on the waist support bar 133 on the wearer's abdomen. At this time, the waist support bar generates a clockwise torque on the main frame 1 through a rigid connection, causing the back plate 11 to press against the wearer's back. In addition, the waist support bar is pressed down by gravity onto the waist bar 12 and / or power module 2, which are fixed to it, thereby pulling down the leg straps 43, which are fixed to it, thus transferring the load weight to the wearer's waist and back, reducing the load on the wearer's arms and spine.

[0047] like Figure 4As shown, the back panel 11 has a quick-clamping structure. Based on this quick-clamping structure, the waist support 12 can be adjusted at the transmission connection position of the first back panel 111 to accommodate wearers with different waist sizes using the assistive device of this invention. Specifically, the quick-clamping structure includes a clamping block 114 and a clamping wrench 115. The clamping wrench 115 includes a clamping rivet 1151, a wrench handle 1152, a wrench shaft 1153, and a wrench cam 1154. The waist support 12 is disposed between the clamping block 114 and the first back panel 111. The clamping rivet 1151 passes through the first back panel 111 and the clamping block 114. One end of the clamping rivet 1151 is disposed on the inner side of the first back panel 111, and this end has a flange (or nut) that can press outward against the first back panel 111. The other end of the clamping rivet 1151 is connected to the wrench shaft 1153. Figure 5 As shown, the wrench handle 1152 and the wrench cam 1154 are an integrated structure. When the wrench handle 1152 is turned, the wrench cam 1154 rotates relative to the wrench shaft 1153, thereby changing the distance between the wrench shaft 1153 and the clamping block 114, and thus pressing or releasing the clamping block 114. Figure 4 When the wrench handle 1152 is rotated downwards clockwise, its wrench cam 1154 can increase the distance between the clamping block 114 and the first back plate 111, thereby allowing the waist bar 12 to move left and right relative to the first back plate 111. That is, by setting two quick-clamping structures, the relative distance between the left and right waist bars can be adjusted to accommodate wearers with different waist sizes. When the wrench handle 1152 is rotated upwards counterclockwise, its wrench cam 1154 will decrease the distance between the clamping block 114 and the first back plate 111, thereby pressing the waist bar 12 tightly against the clamping block 114 and the first back plate 111. The resulting friction will prevent the waist bar 12 from moving relative to the first back plate 111. At this time, the waist bar 12 and the first back plate 111 are tightly fixed together, which can transmit torque, so that the assistive device of the present invention can apply torque to the wearer normally.

[0048] By adopting the above-mentioned quick-hugging structure, the waist bar 12 of the assistive device of the present invention can be closer to the wearer, thereby making the assistive device of the present invention fit the body, compact, and not obtrusive, making it convenient for the wearer to work in crowded environments.

[0049] like Figure 6As shown, the power module 2 includes a power base 21 and a power output disc 22. The power output disc 22 can rotate relative to the power base 21 and output torque, with its rotation axis serving as the power output axis. The waist bar 12 and the front lumbar support 13 are both fixed to the power base 21, and the waist bar 12 and the front lumbar support 13 are firmly connected through the power base 21, thereby transmitting force and torque.

[0050] like Figure 2 , Figure 6 As shown, the leg pole module 3 includes a leg pole adapter section 31, a leg pole pivot 32, a leg pole body 33, and a thigh guard 34. The upper end of the leg pole adapter section 31 is fixedly connected to the power output disc 22, and the lower end is rotatably connected to the leg pole body 33 through the leg pole pivot 32. The leg pole pivot 32 is perpendicular to the coronal plane of the human body and orthogonal to the power output pivot, thereby allowing the wearer's legs to abduct or adduct while transmitting power torque. The lower end of the leg pole body 33 is connected to the thigh guard 34, and the thigh guard 34 is fixed to the wearer's legs through a leg strap 43.

[0051] The strap system includes shoulder straps 41, waist belts 42, leg straps 43, and pull straps 44.

[0052] like Figure 1 , Figure 2 As shown, the second back plate 112 has protruding extension arms 1121 in all four directions. The two shoulder straps 41 are respectively disposed on the left and right sides of the second back plate 112. Each shoulder strap 41 includes an upper section 411, a lower section 412, and a shoulder strap buckle 413. The ends of the upper section 411 and the lower section 412 are fixed to the corresponding extension arms 1121 at the wearer's back. The upper section 411 and the lower section 412 extend around the wearer's shoulders to the wearer's chest. The ends of the upper section 411 and the lower section 412 are fastened at the wearer's chest by the corresponding shoulder strap buckles 413, thereby fitting the second back plate 112 against the wearer's back. The shoulder straps 41 are designed with two sections, upper and lower, for easy wear and use, and allow the shoulder straps 41 to tightly wrap around the wearer's shoulders, facilitating the transmission of assistance.

[0053] like Figure 1 , Figure 4As shown, the waist belt 42 wraps tightly around the wearer's waist. The waist belt 42 includes a right waist belt 421, a left waist belt 422, a rear waist belt buckle 423, and a front waist belt buckle 424. The right waist belt 421 and the left waist belt 422 are fastened at the wearer's lower back by the rear waist belt buckle 423 and at the wearer's front abdomen by the front waist belt buckle 424, thus forming a complete ring waist belt around the wearer's waist. The waist rod 12 or the power base 21 is fixedly connected to the right waist belt 421 and the left waist belt 422 on both sides, respectively. The closed ring structure of the waist belt 42 bears the weight of the main frame 1, the power module 2, and the heavy object 5 carried on it.

[0054] like Figure 2 , Figure 7 As shown, when the wearer is carrying a heavy object 5 in front, the lower end of the heavy object 5 falls on the waist support bar 133 on the wearer's front abdomen, thereby transferring the weight to the power base 21 fixed thereto, and then to the waist belt 42. Finally, the waist belt 42 distributes the weight of the heavy object around the wearer's waist, which has a strong load-bearing capacity, thereby reducing the load on the wearer's arms and spine.

[0055] The back buckle 423 and front buckle 424 of the waist belt 42 can adjust the length of the right waist belt 421 and the left waist belt 422 and can be fastened, so as to adapt to wearers with different waist sizes.

[0056] The leg strap 43 is fixedly connected to the thigh shell 34, thereby fixing the leg bar module 3 to the wearer's thigh.

[0057] like Figure 7 As shown, the connecting end of the pull strap 44 is fixed to the second back plate 112 (or shoulder strap 41); when the wearer is carrying a heavy object 5 in front, the heavy object 5 is supported by the front waist support 13 below and pulled by the lifting end of the pull strap 44 above, forming a stable load-bearing structure; the lifting end of the pull strap 44 has a pull strap hook 442, which can hook the heavy object 5, so that the wearer's arms can be completely relaxed when carrying the heavy object.

[0058] like Figure 7 As shown, the lifting end of the pull strap 44 also has a pull strap magnet 441, and the front waist support 13 or the power module 12 or the waist belt 42 has a waist magnet 425 on its side (e.g. Figure 7 The position shown is the waist belt 42). When the pull strap 44 is not in use, the pull strap magnet 441 engages with the waist magnet 425, thereby quickly fixing the end of the pull strap 44 near the waist of the human body, preventing the pull strap 44 from getting caught in the machine or snagging other items in the workplace.

[0059] Furthermore, the quick-fixing solution for the lifting end of the pull strap 44 can also be achieved by using a snap-fit ​​device: the lifting end of the pull strap 44 has a convex shaft, and the front waist support 13, power module 12, or waist belt 42 has a magnetic opening that matches the convex shaft, and the magnetic opening is used for the convex shaft to be snapped in; when the pull strap 44 is not in use, the convex shaft can be snapped into the magnetic opening to achieve quick fixation of the lifting end of the pull strap 44.

[0060] To facilitate better storage when the pull strap 44 is not in use, the pull strap 44 employs a double-layered structure with limited elasticity. It can be a fabric cover with an elastic inner core. The outer fabric cover of the pull strap 44 is inelastic, allowing it to wrinkle, shrink, and bear heavy loads. The elastic inner core is an elastic rubber cord that can slide relative to the fabric cover, and its natural length is shorter than the fabric cover. Thus, when the pull strap 44 is not in use, such as when the pull strap magnet 441 engages with the waist magnet 425, the elastic inner core of the pull strap 44 will shorten the pull strap 44 to its inner core length, allowing the pull strap 44 to fit snugly against the front of the wearer's torso, preventing the pull strap 44 from getting caught in debris. When the pull strap 44 is used to lift heavy objects, the fabric cover of the pull strap 44 extends to its maximum length, bearing the tensile force while preventing the elastic inner core from overstretching and causing damage.

[0061] The working principle of Embodiment 1 of the present invention is as follows:

[0062] like Figure 3 As shown, when the wearer bends over to lift the heavy object 5, the power module 2 of the assist device of the present invention outputs an assist torque, causing the back plate 11 and the leg bar module 3 to extend relative to each other. At this time, the leg bar body 33 presses against the front of the wearer's thigh through the thigh guard 34, and the back plate 11 moves away from the wearer's back in a counterclockwise direction, thereby tightening the shoulder strap 41, thereby pulling the wearer's shoulders and chest upward, helping the wearer to stretch their waist to lift the heavy object 5, and reducing the burden on the wearer's back muscles and lumbar spine.

[0063] like Figure 2 As shown, when the wearer lifts the heavy object 5, the wearer can place the heavy object 5 on the front waist support 13, and part of the weight of the heavy object 5 is transferred to the main frame 1, and then to the waist belt 42 and the waist of the wearer, reducing the load on the wearer's arm and back muscles; at this time, the assist device of the present invention detects the wearer's walking action, and then simulates the walking action of the human lower limbs according to the human walking intention, alternately outputting hip flexion and hip extension torques, reducing the burden on the lower limb muscles when the human walks.

[0064] The following is combined Figure 7 Embodiment 2 of the assist device of the present invention is introduced.

[0065] like Figure 7As shown, when the wearer lifts a large, heavy object, the wearer can place the object 5 below the front lumbar support 13 and then use the pull strap 44 to pull the object 5 from above. Part of the weight of the object 5 is transferred to the main frame 1 and the waist belt 42, while some weight is distributed to the wearer's shoulders and back, resulting in a more even distribution of the load and a better wearing experience. Simultaneously, the power system of the assistive device provides walking assistance, helping the wearer reduce the burden on their lower limb muscles and lower their energy expenditure when walking with a heavy load.

[0066] like Figure 7 As shown, the assist device of the present invention also includes a sensing system, which includes a tension force sensor 61 disposed on the second back plate 112. One end of the tension force sensor 61 is fixed on the second back plate 112, and the other end of the tension force sensor 61 is fixed to the connecting end of the tension belt 44. When the lifting end of the tension belt 44 lifts the heavy object 5, it will pull the tension force sensor 61 to deform and thus sense the magnitude of the tension. The assist device of the present invention can drive the power module 2 to output power according to the magnitude of the tension.

[0067] like Figure 7 As shown, the sensing system also includes a support rod force sensor 62 disposed on the front lumbar support 13. The support rod force sensor 62 is connected in series in the front lumbar support 13 and is used to sense the magnitude of the weight borne on the front lumbar support 13. In this embodiment, one end of the support rod force sensor 62 is fixedly connected to the power base 21 / lumbar support base 131, and the other end of the support rod force sensor 62 is fixedly connected to the lumbar support base 131 or the lumbar support pivot 132. When the front lumbar support 13 carries the weight 5, deformation will occur on the support rod force sensor 62 to sense the magnitude of its lifting force. The power assist device of the present invention can drive the power module 2 to output power according to the magnitude of the lifting force.

[0068] like Figure 7 As shown, the device of the present invention has a fan 7 on the back plate 11. When the fan 7 rotates, it blows air into the back of the wearer to make the wearer cooler while working.

[0069] The following is combined Figure 8 , Figure 9 Embodiment 3 of the assist device of the present invention is introduced.

[0070] Compared to Example 1, the structure of the front lumbar support 13 has been simplified in Example 3. For example... Figure 8 , Figure 9As shown, in Embodiment 3, the front lumbar support 13 has removed the lumbar support pivot 132 and lumbar support rod 133. The front lumbar support 13 includes a lumbar support base 131 with a lumbar support protrusion 134. The lumbar support base 131 is fixed to the right waist belt 421 and the left waist belt 422. The lumbar support protrusion 134 at the front end of the lumbar support base 131 is used to support the heavy object 5. In this embodiment, the right waist belt 421 and the left waist belt 422 are fixedly connected to the power module 2. Plastic sheets are embedded inside the right waist belt 421 and the left waist belt 422, thereby making its weight With strong rigidity in the force direction and flexibility in the horizontal direction, the load in the vertical direction can be distributed over a large area to the wearer's waist. When the lumbar support base 131 bears a heavy object 5, the lumbar support base 131 transfers the weight of the heavy object to the waist belt 42, which then distributes the weight of the heavy object 5 to the wearer's front and back waists. At the same time, it also transfers part of the weight of the heavy object 5 to the power module 2, which is fixed to it, and then to the main frame 1 and the wearer's back. This makes the load on the wearer relatively evenly distributed, resulting in a better experience. In addition, in this embodiment, the waist magnetic 425 is fixed to the waist belt 42 or the lumbar support base 131, and it can be attracted to the pull strap magnetic 441 to store the end of the pull strap 44 and prevent it from getting caught in the working machine. The front lumbar support 13 structure in this embodiment is relatively simple and suitable for situations where the weight and volume of the heavy object being transported are not particularly large.

[0071] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A compact waist assist device, characterized by, The utility model provides a compact waist assisting device, which comprises a main frame, a power module, a leg bar module and a waist belt, the main frame comprises a back plate and a waist bar, the back plate is arranged on the back of a wearer, the power module is arranged at the hip of the wearer, the waist bar extends upward from the power module arranged at the hip of the wearer and is in transmission connection with the back plate, the leg bar module is arranged on the side of the leg of the wearer and is used for wearing and fixing the leg of the wearer, the upper end of the leg bar module is in rotary connection with the power module, the power module drives the leg bar module to swing the leg of the wearer forward or backward, and the waist belt is fixedly connected with the power module or the waist bar. The utility model is characterized in that, The main frame further comprises a front waist support, the front waist support is arranged on the front side of the waist of the wearer to support heavy objects, the front waist support at least comprises a waist support base, and the waist support base is fixed on the main frame and / or the power module and / or the waist belt, the front waist support is rigid in the vertical direction relative to the main frame or the power module, so that the front waist support carries heavy objects and transmits the heavy objects to the main frame, and the front waist support is flexible or rotatable in the horizontal direction relative to the main frame or the power module, so that the front waist support is opened in the horizontal direction to enable the wearer to put the compact waist assisting device into the waist of the human body from the back waist. The back plate at least comprises a first back plate, a second back plate and a back plate rotating shaft, the first back plate and the second back plate are in rotary connection through the back plate rotating shaft, the back plate rotating shaft is arranged below the shoulder of the wearer and is perpendicular to the coronal plane, when the assisting device is used, the second back plate rotates along the left and right swinging direction of the shoulder of the wearer with the back plate rotating shaft as the rotating point, and when the assisting device is not used, the second back plate is rotated to overlap the first back plate.

2. The compact waist assist device of claim 1, wherein: The front waist support further comprises a waist support rotating shaft and a waist support rod, the waist support rod and the waist support base are in rotary connection based on the vertical direction through the waist support rotating shaft.

3. The compact waist assist device of claim 1, wherein: The waist bar and the back plate are in compression connection through the quick holding structure, the quick holding structure comprises a holding pull, a wrench rotating shaft, a wrench cam and a wrench handle, the holding pull connects the back plate and the wrench cam, and the waist bar is arranged between the back plate and the wrench cam, when the wrench handle is turned, the wrench cam is rotated, the distance between the back plate and the wrench cam is increased or reduced, the back plate and the waist bar are loosened or compressed, and when the back plate and the waist bar are loosened, the relative position of the waist bar and the back plate can be adjusted.

4. The compact waist assist device of claim 1, wherein: The waist belt is closely arranged around the waist of the wearer, the waist belt comprises a left waist belt and a right waist belt, one end of the left waist belt and the right waist belt is buckled and connected at the back waist of the wearer, the other end of the left waist belt and the right waist belt is buckled and connected at the front abdomen of the wearer, the left waist belt and the right waist belt are buckled to form a closed ring structure to bear the weight of the main frame, the power module and the heavy objects thereon.

5. The compact waist assist device of claim 1, further comprising a lifting strap for lifting a heavy object, wherein: The connecting end of the pull belt is fixed on the back plate, the pulling end of the pull belt is provided with a pull belt magnetic attraction or a convex shaft, the front waist support or the power module or the waist belt is provided with a waist magnetic attraction matched with the pull belt magnetic attraction or a magnetic attraction opening hole matched with the convex shaft.

6. The compact waist assist device of claim 5, the pull strap being an elastic pull strap, characterized by: The outer layer of the pull belt is a cloth cover, and the inner layer of the pull belt is an elastic core that slides relative to the cloth cover; the natural length of the elastic core is less than the natural length of the cloth cover; in a natural state, the elastic core shortens the outer layer of the cloth cover to the shortest length, and in a stretched state, the outer layer of the cloth cover is stretched to the maximum length to bear the pulling force and prevent the elastic core from being elongated to overload.

7. The compact waist assist device of claim 1, wherein both sides of the back panel are provided with shoulder straps. Each of the shoulder straps is divided into an upper shoulder strap and a lower shoulder strap, the head ends of the upper shoulder strap and the lower shoulder strap are fixedly connected with the back plate at the back of the wearer, the upper shoulder strap and the lower shoulder strap extend along the shoulders of the wearer to the chest of the wearer, and the tail ends of the upper shoulder strap and the lower shoulder strap are buckled to each other to form a closed loop structure to fix the back plate on the back of the wearer.

8. The compact waist assist device of claim 2, wherein the front waist support is provided with a support bar force sensor. The supporting rod force sensor is connected in series with the front waist support, one end of the supporting rod force sensor is fixedly connected with the power module or the waist support base or the waist support rod, and the other end is fixedly connected with the waist support base or the waist support rod or the waist support rotating shaft, and the supporting rod force sensor is used for sensing the gravity carried by the front waist support.

9. The compact waist assist device of claim 5, wherein the back panel is provided with a pull strap force sensor. One end of the pull belt force sensor is fixed on the back plate, and the other end is fixedly connected with the connecting end of the pull belt to sense the size of the pulling force of the pull belt.

Images